implements TrackingTool interface More...

#include <mitkInternalTrackingTool.h>

Inheritance diagram for mitk::InternalTrackingTool:

Collaboration diagram for mitk::InternalTrackingTool:

Public Types
typedef InternalTrackingTool	Self
typedef TrackingTool	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
Public Member Functions
virtual const char *	GetClassName () const
virtual void	GetPosition (mitk::Point3D &position) const
	returns the current position of the tool as an array of three floats (in the tracking device coordinate system)
virtual void	GetOrientation (mitk::Quaternion &orientation) const
	returns the current orientation of the tool as a quaternion (in the tracking device coordinate system)
virtual bool	Enable ()
	enablea the tool, so that it will be tracked. Returns true if enabling was successfull
virtual bool	Disable ()
	disables the tool, so that it will not be tracked anymore. Returns true if disabling was successfull
virtual bool	IsEnabled () const
	returns whether the tool is enabled or disabled
virtual bool	IsDataValid () const
	returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...)
virtual float	GetTrackingError () const
	return one value that corresponds to the overall tracking error. The dimension of this value is specific to each tracking device
virtual void	SetToolName (const std::string _arg)
	Sets the name of the tool.
virtual void	SetToolName (const char *_arg)
	Sets the name of the tool.
virtual void	SetPosition (mitk::Point3D position)
	sets the position
virtual void	SetOrientation (mitk::Quaternion orientation)
	sets the orientation as a quaternion
virtual void	SetTrackingError (float error)
	sets the tracking error
virtual void	SetDataValid (bool _arg)
	sets if the tracking data (position & Orientation) is valid
virtual void	SetErrorMessage (const char *_arg)
	sets the error message
Protected Member Functions
	InternalTrackingTool ()
virtual	~InternalTrackingTool ()
Static Protected Member Functions
static Pointer	New ()
Protected Attributes
Point3D	m_Position
	holds the position of the tool
Quaternion	m_Orientation
	holds the orientation of the tool
float	m_TrackingError
	holds the tracking error of the tool
bool	m_Enabled
	if true, tool is enabled and should receive tracking updates from the tracking device
bool	m_DataValid
	if true, data in m_Position and m_Orientation is valid, e.g. true tracking data
Friends
class	MicroBirdTrackingDevice

Detailed Description

implements TrackingTool interface

Documentation This class is a complete TrackingTool implementation. It can either be used directly by TrackingDevices, or be subclassed for more specific implementations. mitk::MicroBirdTrackingDevice uses this class to manage its tools. Other tracking devices uses specialized versions of this class (e.g. mitk::NDITrackingTool)

Definition at line 40 of file mitkInternalTrackingTool.h.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> mitk::InternalTrackingTool::ConstPointer

Reimplemented from mitk::TrackingTool.

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

Definition at line 44 of file mitkInternalTrackingTool.h.

typedef itk::SmartPointer<Self> mitk::InternalTrackingTool::Pointer

Reimplemented from mitk::TrackingTool.

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

Definition at line 44 of file mitkInternalTrackingTool.h.

typedef InternalTrackingTool mitk::InternalTrackingTool::Self

Reimplemented from mitk::TrackingTool.

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

Definition at line 44 of file mitkInternalTrackingTool.h.

typedef TrackingTool mitk::InternalTrackingTool::Superclass

Reimplemented from mitk::TrackingTool.

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

Definition at line 44 of file mitkInternalTrackingTool.h.

Constructor & Destructor Documentation

mitk::InternalTrackingTool::InternalTrackingTool ( ) [protected]

Definition at line 24 of file mitkInternalTrackingTool.cpp.

References m_Orientation, and m_Position.

: TrackingTool(),
m_TrackingError(0.0f), 
m_Enabled(true), 
m_DataValid(false)
{
  m_Position[0] = 0.0f;
  m_Position[1] = 0.0f;
  m_Position[2] = 0.0f;
  m_Orientation[0] = 0.0f;
  m_Orientation[1] = 0.0f;
  m_Orientation[2] = 0.0f;
  m_Orientation[3] = 0.0f;
}

mitk::InternalTrackingTool::~InternalTrackingTool ( ) [protected, virtual]

Definition at line 39 of file mitkInternalTrackingTool.cpp.

{
}

Member Function Documentation

bool mitk::InternalTrackingTool::Disable ( ) [virtual]

disables the tool, so that it will not be tracked anymore. Returns true if disabling was successfull

Implements mitk::TrackingTool.

Definition at line 147 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if (m_Enabled == true)
  {
    this->m_Enabled = false;
    this->Modified();
  }
  return true;
}

bool mitk::InternalTrackingTool::Enable ( ) [virtual]

enablea the tool, so that it will be tracked. Returns true if enabling was successfull

Implements mitk::TrackingTool.

Definition at line 135 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if (m_Enabled == false)
  {
    this->m_Enabled = true;
    this->Modified();
  }  
  return true;
}

virtual const char* mitk::InternalTrackingTool::GetClassName ( ) const [virtual]

Reimplemented from mitk::TrackingTool.

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

void mitk::InternalTrackingTool::GetOrientation ( mitk::Quaternion & orientation ) const [virtual]

returns the current orientation of the tool as a quaternion (in the tracking device coordinate system)

Implements mitk::TrackingTool.

Definition at line 94 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  orientation = m_Orientation;
}

void mitk::InternalTrackingTool::GetPosition ( mitk::Point3D & position ) const [virtual]

returns the current position of the tool as an array of three floats (in the tracking device coordinate system)

Implements mitk::TrackingTool.

Definition at line 70 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex
  position[0] = m_Position[0];
  position[1] = m_Position[1];
  position[2] = m_Position[2];
  this->Modified();
}

float mitk::InternalTrackingTool::GetTrackingError ( ) const [virtual]

return one value that corresponds to the overall tracking error. The dimension of this value is specific to each tracking device

Implements mitk::TrackingTool.

Definition at line 127 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  float r = m_TrackingError;
  return r;
}

bool mitk::InternalTrackingTool::IsDataValid ( ) const [virtual]

returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...)

Implements mitk::TrackingTool.

Definition at line 166 of file mitkInternalTrackingTool.cpp.

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  return m_DataValid;
}

bool mitk::InternalTrackingTool::IsEnabled ( ) const [virtual]

returns whether the tool is enabled or disabled

Implements mitk::TrackingTool.

Definition at line 159 of file mitkInternalTrackingTool.cpp.

Referenced by mitk::NDITrackingDevice::InitializeWiredTools().

{
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  return m_Enabled;
}

static Pointer mitk::InternalTrackingTool::New ( ) [static, protected]

Reimplemented in mitk::ClaronTool, mitk::MicroBirdTool, mitk::NDIPassiveTool, mitk::VirtualTrackingTool, ClaronToolTestClass, InternalTrackingToolTestClass, and NDIPassiveToolTestClass.

Referenced by QmitkIGTExampleView::ConfigureTrackingDevice().

void mitk::InternalTrackingTool::SetDataValid ( bool _arg ) [virtual]

sets if the tracking data (position & Orientation) is valid

Definition at line 173 of file mitkInternalTrackingTool.cpp.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

{  
  itkDebugMacro("setting m_DataValid to " << _arg);
  if (this->m_DataValid != _arg)
  {
    MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
    this->m_DataValid = _arg;
    this->Modified();
  }  
}

void mitk::InternalTrackingTool::SetErrorMessage ( const char * _arg ) [virtual]

sets the error message

Definition at line 185 of file mitkInternalTrackingTool.cpp.

{
  itkDebugMacro("setting  m_ErrorMessage  to " << _arg);
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if ((_arg == NULL) || (_arg == this->m_ErrorMessage)) 
    return;

  if (_arg != NULL)
    this->m_ErrorMessage = _arg;
  else
    this->m_ErrorMessage = "";
  this->Modified(); 
}

void mitk::InternalTrackingTool::SetOrientation ( mitk::Quaternion orientation ) [virtual]

sets the orientation as a quaternion

Definition at line 101 of file mitkInternalTrackingTool.cpp.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

{
  itkDebugMacro("setting  m_Orientation to " << orientation);
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if (mitk::Equal(orientation, m_Orientation))
  { 
    return;
  }
  m_Orientation = orientation;
  this->Modified();
}

void mitk::InternalTrackingTool::SetPosition ( mitk::Point3D position ) [virtual]

sets the position

Definition at line 80 of file mitkInternalTrackingTool.cpp.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

{
  itkDebugMacro("setting  m_Position to " << position);

  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if (mitk::Equal(position, m_Position))
  { 
    return;
  }
  m_Position = position;
  this->Modified();
}

void mitk::InternalTrackingTool::SetToolName ( const std::string _arg ) [virtual]

Sets the name of the tool.

Definition at line 64 of file mitkInternalTrackingTool.cpp.

Referenced by QmitkNDIConfigurationWidget::UpdateTrackerFromToolTable().

{
  this->SetToolName(_arg.c_str());
}

void mitk::InternalTrackingTool::SetToolName ( const char * _arg ) [virtual]

Sets the name of the tool.

Definition at line 44 of file mitkInternalTrackingTool.cpp.

{
  itkDebugMacro("setting  m_ToolName to " << _arg);
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex
  if ( _arg && (_arg == this->m_ToolName) ) 
  { 
    return;
  }
  if (_arg)
  {
    this->m_ToolName= _arg;
  }
  else
  {
    this->m_ToolName= "";
  }
  this->Modified(); 
}

void mitk::InternalTrackingTool::SetTrackingError ( float error ) [virtual]

sets the tracking error

Definition at line 114 of file mitkInternalTrackingTool.cpp.

Referenced by mitk::MicroBirdTrackingDevice::TrackTools().

{
  itkDebugMacro("setting  m_TrackingError  to " << error);
  MutexLockHolder lock(*m_MyMutex); // lock and unlock the mutex 
  if (error == m_TrackingError)
  { 
    return;
  }
  m_TrackingError = error;
  this->Modified();
}